Kinematics Analysis and Gait Planning of a Three-Limb Robot

doi:10.13190/jbupt.200801.57.fanjzh

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2008, Vol. 31 ›› Issue (1): 57-61.doi: 10.13190/jbupt.200801.57.fanjzh

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Kinematics Analysis and Gait Planning of a Three-Limb Robot

FAN Ji-zhuang , ZHU Yan-he, ZHao Jie, CAI He-gao

(Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, 150001, China)

Received:2007-05-18 Revised:1900-01-01 Online:2008-02-28 Published:2008-02-28
Contact: FAN Ji-zhuang

Abstract

Abstract:

Aiming at a three-limb robot with integration of its arm and leg mechanism, regarding robot’s limb operating pattern as the special work process of its motion pattern, and translating kinematics analysis of the whole robot into the task of a kinematic combination of each limb acting as a standing or a swinging foot, the unification of kinematics model of the robot under circumstances of locomotion and operation is successfully realized. Working patterns of the three-limb robot in the state of both locomotion and operation are planned. A gait simulation of the three-limb robot is performed, it therefore justifies the previous theoretical analysis and lends a solid theoretical basis to the design of the robot controller in the future.

Key words: integration of arm and leg mechanism, walking robot, kinematics, motion planning

CLC Number:

TP24.2

FAN Ji-zhuang , ZHU Yan-he, ZHao Jie, CAI He-gao
. Kinematics Analysis and Gait Planning of a Three-Limb Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2008, 31(1): 57-61.

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Kinematics Analysis and Gait Planning of a Three-Limb Robot

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